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5 User Wiring and User Tubing ................................................................3-13
6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16
7 Attaching The End Effector ....................................................................3-17
7-1 R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17
7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) ..................................... 3-19
7-1-2 Acceleration coefficient vs. moment of inertia (YK150X) ..................................... 3-21
7-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X) ......................3-23
7-2 Equation for moment of inertia calculation ......................................................... 3-24
7-3 Example of moment of inertia calculation........................................................... 3-27
7-4 Attaching the end effector .................................................................................. 3-29
7-5 Gripping force of end effector ............................................................................. 3-32
8Working Envelope and Mechanical Stopper Positions for Maximum
Working Envelope..................................................................................3-33
CHAPTER 4 Adjustment
1 Overview ..................................................................................................4-1
2 Safety Precautions ..................................................................................4-1
3 Adjusting the origin ..................................................................................4-2
3-1 Absolute reset method ......................................................................................... 4-3
3-1-1 YK120X series (YK120X, YK150X)........................................................................4-3
3-1-1-1 Sensor method (R-axis) ........................................................................................4-3
3-1-1-2 Stroke end method (X-axis, Y-axis) ......................................................................4-4
3-1-1-3 Stroke end method (Z-axis) ..................................................................................4-6
3-1-2 YK180X series (YK180X, YK220X)........................................................................4-7
3-1-2-1 Sensor method (R-axis) ........................................................................................4-7
3-1-2-2 Sensor method (X-axis, Y-axis) ............................................................................4-8
3-1-2-3 Stroke end method (Z-axis) ..................................................................................4-9
3-2 Machine reference.............................................................................................. 4-10
3-3 Absolute reset procedures ..................................................................................4-11
3-3-1 Sensor method (R-axis) ....................................................................................... 4-11
3-3-2 Stroke end method (X and Y axes of YK120X, YK150X) .....................................4-13
3-3-3 Stroke end method (Z-axis)..................................................................................4-15
3-3-4 Sensor method (X and Y axes of YK180X, YK220X) ...........................................4-16
3-4 Adjusting the machine reference ........................................................................ 4-18
3-4-1 YK120X series (YK120X, YK150X)...................................................................... 4-19
3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X) .............................4-19
3-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC) ........................4-21
3-4-1-3 Adjusting the X-axis machine reference .............................................................4-23
3-4-1-4 Adjusting the Y-axis machine reference ..............................................................4-25
3-4-1-5 Adjusting the Z-axis machine reference .............................................................4-27